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Add config file support

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This commit is contained in:
Nicolas Hiillos
2023-04-28 11:34:37 +03:00
parent bdcccdc06e
commit 45a3a3ac4d
2 changed files with 16 additions and 5 deletions
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10
src/lite6_controller/launch/lite6_gazebo.launch.py
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@@ -2,6 +2,7 @@
"""Launch Python example for following a target""" """Launch Python example for following a target"""
import os import os
import yaml
from ament_index_python import get_package_share_directory from ament_index_python import get_package_share_directory
from launch.launch_description_sources import load_python_launch_file_as_module from launch.launch_description_sources import load_python_launch_file_as_module
from launch import LaunchDescription from launch import LaunchDescription
@@ -55,6 +56,8 @@ def launch_setup(context, *args, **kwargs):
moveit_controller_manager_key = LaunchConfiguration('moveit_controller_manager_key', default='moveit_simple_controller_manager') moveit_controller_manager_key = LaunchConfiguration('moveit_controller_manager_key', default='moveit_simple_controller_manager')
moveit_controller_manager_value = LaunchConfiguration('moveit_controller_manager_value', default='moveit_simple_controller_manager/MoveItSimpleControllerManager') moveit_controller_manager_value = LaunchConfiguration('moveit_controller_manager_value', default='moveit_simple_controller_manager/MoveItSimpleControllerManager')
config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('lite6_controller'), 'config', 'config.yaml']))
# robot moveit common launch # robot moveit common launch
# xarm_moveit_config/launch/_robot_moveit_common.launch.py # xarm_moveit_config/launch/_robot_moveit_common.launch.py
robot_moveit_common_launch = IncludeLaunchDescription( robot_moveit_common_launch = IncludeLaunchDescription(
@@ -190,7 +193,6 @@ def launch_setup(context, *args, **kwargs):
robot_description, robot_description,
robot_description_semantic, robot_description_semantic,
{"use_sim_time": use_sim_time}, {"use_sim_time": use_sim_time},
lite6_config,
], ],
), ),
Node( Node(
@@ -265,7 +267,11 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml = robot_description_parameters['robot_description_kinematics'] kinematics_yaml = robot_description_parameters['robot_description_kinematics']
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None) joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
lite6_config = load_yaml('lite6_controller', 'config', 'config.yaml') robotcontroller_config = config.perform(context)
with open(robotcontroller_config, 'r') as f:
lite6_config = yaml.safe_load(f)
print(f'Loaded configuration: {lite6_config}')
robot_description_parameters.update(lite6_config['/robot_controller']['ros__parameters'])
#cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml') #cartesian_limits = load_yaml(moveit_config_package_name, 'config', xarm_type, 'cartesian_limits.yaml')
#robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits'] #robot_description_parameters['robot_description_planning']['cartesian_limits'] = cartesian_limits['cartesian_limits']

11
src/lite6_controller/launch/lite6_real_no_gui.launch.py
View File

@@ -1,4 +1,5 @@
import os import os
import yaml
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -56,6 +57,8 @@ def launch_setup(context, *args, **kwargs):
use_sim_time = LaunchConfiguration('use_sim_time', default=False) use_sim_time = LaunchConfiguration('use_sim_time', default=False)
log_level = LaunchConfiguration("log_level", default='warn') log_level = LaunchConfiguration("log_level", default='warn')
config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('lite6_controller'), 'config', 'config.yaml']))
# # robot driver launch # # robot driver launch
# # xarm_api/launch/_robot_driver.launch.py # # xarm_api/launch/_robot_driver.launch.py
# robot_driver_launch = IncludeLaunchDescription( # robot_driver_launch = IncludeLaunchDescription(
@@ -156,8 +159,11 @@ def launch_setup(context, *args, **kwargs):
kinematics_yaml = robot_description_parameters['robot_description_kinematics'] kinematics_yaml = robot_description_parameters['robot_description_kinematics']
joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None) joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
#lite6_config = load_yaml('lite6_controller', 'config', 'config.yaml') robotcontroller_config = config.perform(context)
lite6_config = os.path.join('lite6_controller', 'config', 'config.yaml') with open(robotcontroller_config, 'r') as f:
lite6_config = yaml.safe_load(f)
print(f'Loaded configuration: {lite6_config}')
robot_description_parameters.update(lite6_config['/robot_controller']['ros__parameters'])
# FIX acceleration limits # FIX acceleration limits
#for i in range(1,7): #for i in range(1,7):
@@ -346,7 +352,6 @@ def launch_setup(context, *args, **kwargs):
#robot_description_parameters['robot_description_kinematics'], #robot_description_parameters['robot_description_kinematics'],
robot_description_parameters, robot_description_parameters,
{"use_sim_time": use_sim_time}, {"use_sim_time": use_sim_time},
lite6_config,
], ],
), ),
] ]